wangdequan/linuxcncWebWASM
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Enforce LinuxCNC WASM authority for XYZAC frontend

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wangdequan
2026-09-02 07:43:47 +08:00
parent c60e3a1e8f
commit 6b689fd69e
36 changed files with 514 additions and 210 deletions
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28
wasm-core/src/sim_kinematics_home_limit.c
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@@ -64,6 +64,7 @@ int sim_kinematics_home_limit_home(sim_kinematics_home_limit *home_limit,
memcpy(home_limit->state.joints, joints, sizeof(double) * home_limit->state.joint_count);
home_limit->state.pose = pose;
home_limit->state.home_sequence = home_sequence;
home_limit->state.homed_mask = home_limit->state.joint_count >= 32 ? UINT32_MAX : (UINT32_C(1) << home_limit->state.joint_count) - 1U;
home_limit->state.homed = 1;
home_limit->state.tick += 1;
home_limit->state.last_error = SIM_KIN_HOME_OK;
@@ -72,6 +73,33 @@ int sim_kinematics_home_limit_home(sim_kinematics_home_limit *home_limit,
return SIM_KIN_HOME_OK;
}
int sim_kinematics_home_limit_home_joint(sim_kinematics_home_limit *home_limit,
uint32_t home_sequence, uint32_t joint) {
sim_posemath_pose pose;
double joints[SIM_KIN_MAX_JOINTS] = {0};
int result;
if (home_limit == 0 || home_limit->kinematics == 0 || joint >= home_limit->state.joint_count) return SIM_KIN_HOME_ERR_ARGUMENT;
if (home_sequence > 0xffffu) return SIM_KIN_HOME_ERR_SEQUENCE;
if (home_limit->state.homed_mask != 0) memcpy(joints, home_limit->state.joints, sizeof(double) * home_limit->state.joint_count);
else {
result = sim_kinematics_home(home_limit->kinematics, joints, home_limit->state.joint_count, &pose);
if (result != SIM_KIN_OK) return SIM_KIN_HOME_ERR_FORWARD;
}
joints[joint] = 0.0;
result = sim_kinematics_forward(home_limit->kinematics, joints, home_limit->state.joint_count, &pose);
if (result != SIM_KIN_OK) return SIM_KIN_HOME_ERR_FORWARD;
memcpy(home_limit->state.joints, joints, sizeof(double) * home_limit->state.joint_count);
home_limit->state.pose = pose;
home_limit->state.home_sequence = home_sequence;
home_limit->state.homed_mask |= UINT32_C(1) << joint;
home_limit->state.homed = home_limit->state.homed_mask == (home_limit->state.joint_count >= 32 ? UINT32_MAX : (UINT32_C(1) << home_limit->state.joint_count) - 1U);
home_limit->state.tick += 1;
home_limit->state.last_error = SIM_KIN_HOME_OK;
home_limit->state.limit_error = SIM_KIN_OK;
home_limit->state.kinematics_error = SIM_KIN_OK;
return SIM_KIN_HOME_OK;
}
int sim_kinematics_home_limit_check(sim_kinematics_home_limit *home_limit,
const double *joints,
uint32_t joint_count) {